基于空间混联机构的人体肩部骨骼运动模型

聂超; 宋智斌; 戴建生

doi:10.13700/j.bh.1001-5965.2016.0941

基于空间混联机构的人体肩部骨骼运动模型

doi: 10.13700/j.bh.1001-5965.2016.0941

聂超¹,
宋智斌^1, ,,
戴建生^{1, 2}

1.
天津大学机械工程学院, 天津 300350
2.
伦敦大学国王学院, 伦敦WC2R 2LS

基金项目:

国家自然科学基金 51475322

国家自然科学基金 51535008

详细信息

作者简介:
聂超, 男, 硕士研究生。主要研究方向:肩部骨骼肌肉模型、康复训练策略

宋智斌, 男, 博士, 讲师。主要研究方向:上肢康复机器人、人机交互、生体电信号处理等

戴建生, 男, 博士, 教授, 博士生导师。主要研究方向:变胞机构、可重构机构与可重构机器人、旋量代数与旋量系理论、Origami机构、机器人与跨学科研究等

通讯作者:
宋智斌, E-mail: songzhibin@tju.edu.cn

中图分类号: TH112;Q66
计量
- 文章访问数: 723
- HTML全文浏览量: 53
- PDF下载量: 533
- 被引次数: 0
出版历程
- 收稿日期: 2016-12-15
- 录用日期: 2017-01-13
- 网络出版日期: 2018-01-20

A shoulder skeletal kinematic model based on spatial hybrid mechanism

NIE Chao¹,
SONG Zhibin^{1
, ,},
DAI Jiansheng^{1, 2}

1.
School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
2.
King's College London, University of London, London WC2R 2LS, UK

Funds:

National Natural Science Foundation of China 51475322

National Natural Science Foundation of China 51535008

摘要

摘要:
为了描述人体肩部骨骼系统的运动特征，将肩胛骨与胸廓的相对运动关系定义为类似于圆柱-平面副的运动约束，建立了肩部骨骼系统的空间混联机构模型。首先定义了肩部复合体各关节的类型，并完成了肩带部分和整个肩部机构的自由度分析。然后通过定义附着于各骨骼上的局部坐标系，以齐次坐标变换矩阵和矢量法建立机构的运动分析方程，求得其关节位置的闭合解。最后为了验证该模型，以获得自肩部运动实验的骨骼姿态数据反向驱动该机构模型，从而得到肩胛骨姿态的计算结果，并与测量结果进行对比。结果表明：该机构模型能够反映肩部骨骼的运动约束关系。同时，该模型可以通过缩放处理从而用于适应不同个体的骨骼几何特征。
- 肩部复合体 /
- 肩带 /
- 骨骼运动 /
- 齐次坐标变换 /
- 空间混联机构
Abstract:
In order to represent the movement of the shoulder skeletal system, a spatial hybrid mechanism model is proposed, which describes the articulation between the scapula and thorax as a kinematic constraint similar to a cylinder-plane pair. Firstly, types of joints in shoulder are determined, and thus the degrees of freedom of the shoulder girdle and shoulder mechanism can be analyzed. After the definition of local coordinate systems attached to each skeleton, the vector theory method and homogeneous coordinate transformation are used to establish the position analysis equation of the shoulder mechanism, and the closed-form solutions of joint positions are obtained subsequently. Finally, to verify the validity of the mechanism model, the skeletal posture dataset obtained from a shoulder movement experiment is used to inversely drive the model, the calculation results of the scapular posture are compared with the experimental data. The results indicate that the mechanism model has achieved a good consistency in predicting the skeletal movement of the shoulder complex. Furthermore, this model can be adapted for different individuals' geometric skeletal characteristics by scaling.
- shoulder complex /
- shoulder girdle /
- skeletal movement /
- homogeneous coordinate transformation /
- spatial hybrid mechanism

HTML全文

图 1 肩关节机构模型简图

Figure 1. Schematic of shoulder joint mechanism model

下载: 全尺寸图片幻灯片

图 2 肩部骨骼机构坐标系定义

Figure 2. Definition of related reference frames of shoulder skeleton mechanism

下载: 全尺寸图片幻灯片

图 3 点c、d在肩胛骨系中的位置

Figure 3. Position of points c and d in scapula frame

下载: 全尺寸图片幻灯片

图 4 肩胛-胸廓椭圆约束示意图

Figure 4. Schematic of the constraint between scapula and thorax ellipsoid

下载: 全尺寸图片幻灯片

图 5 标记群的布置^[12]

Figure 5. Placement of marker clusters^[12]

下载: 全尺寸图片幻灯片

图 6 ISB标准中的骨骼标记点与局部坐标系

Figure 6. Skeletal landmarks and local frames defined in ISB standard

下载: 全尺寸图片幻灯片

图 7 锁骨的姿态(FLEX)

Figure 7. Posture of clavicle (FLEX)

下载: 全尺寸图片幻灯片

图 8 用于机构位置分析的输入关节变量θ1、θ2 (FLEX)

Figure 8. Joint variables θ1, θ2 inputted for mechanism position analysis (FLEX)

下载: 全尺寸图片幻灯片

图 9 肩胛骨下角AI在椭球系S₃中的位置(FLEX)

Figure 9. Position of angulus inferior AI described in ellipsoid frame S₃(FLEX)

下载: 全尺寸图片幻灯片

图 10 AI投影于胸廓椭圆表面示意图

Figure 10. Schematic of point AI projected on thorax elliptical surface

下载: 全尺寸图片幻灯片

图 11 关节变量ϕ_d(FLEX)

Figure 11. Joint variable ϕ_d (FLEX)

下载: 全尺寸图片幻灯片

图 12 肩胛骨相对于胸廓的运动姿态(FLEX、ABD、SCAP)

Figure 12. Movement posture of scapula with respect to thorax (FLEX, ABD, SCAP)

下载: 全尺寸图片幻灯片

图 13 肩胛骨姿态的模型预测值与实验测量值平均偏差

Figure 13. Average deviations between scapula postures obtained from model prediction and experiment measurement

下载: 全尺寸图片幻灯片

表 1 标准模型的各构件尺寸参数

Table 1. Size parameters of each link in generic model

参数	l₁ /mm	l₂ /mm	l₃ /mm	l₂₂ /mm	l₄ /mm	γ /(°)
数值	182.5	129.1	185.9	117.6	301.6	38.8

下载: 导出CSV

表 2 标准模型中胸廓椭球的几何尺寸

Table 2. Size parameters of thorax ellipsoid in generic modelmm

几何尺寸	c₁	c₂	c₃	O点位置⁰p_O	e点位置²p_e
数值	144.6	95.6	211.7	[0-62.1 -152.1 1]^T	[28.1-43.9 -164.5 1]^T

下载: 导出CSV

表 3 实验对象的骨骼特征尺寸参数

Table 3. Skeletal size parameters of experimental subjectmm

骨骼标记点	标准模型	实验对象
IJ	(0, 0, 0)	(0, 0, 0)
PX	(31.9, -132.7, -9.8)	(56.0, -163.0, -2.4)
C7	(-124.2, 54.1, 0)	(-123.1, 80.7, -4.7)
T8	(-156.61, -171.5, 0)	(-179.1, -133.2, 11.2)
AA	(-105.6, 7.5, 182.6)	(-73.5, 9.3, 205.1)
TS	(-156.0, -11.7, 75.0)	(-136.3, 5.1, 121.8)
AI	(-156.7, -126.2, 101.9)	(-141.6, -126.5, 116.2)
AC	(-71.8, 26.6, 165.1)	(-37.0, 40.4, 167.2)
SC	(-2.8, -15.2, 1.4)	(15.3, -31.0, -6.6)
椭球中心	(-62.1, -152.1, 0)	(-61.6, -148.1, 0)
椭球半轴	(95.6, 211.7, 144.6)	(114.4, 222.7, 164.8)

下载: 导出CSV

参考文献(20)

[1]	YANG J, FENG X, KIM J H, et al.Review of biomechanical models for human shoulder complex[J]. International Journal of Human Factors Modelling & Simulation, 2010, 1(3):271-293. https://nyuscholars.nyu.edu/en/publications/review-of-biomechanical-models-for-human-shoulder-complex
[2]	YANG J J, FENG X, XIANG Y, et al.Determining the three-dimensional relation between the skeletal elements of the human shoulder complex[J]. Journal of Biomechanics, 2009, 42(11):1762-1767. doi: 10.1016/j.jbiomech.2009.04.048
[3]	DEMPSTER W T.Mechanisms of shoulder movement[J]. Archives of Physical Medicine & Rehabilitation, 1965, 46:49-70. http://www.worldcat.org/title/mechanisms-of-shoulder-movement/oclc/173373864
[4]	ENGIN A E, CHEN S M.Statistical data base for the biomechanical properties of the human shoulder complex-Ⅰ:Kinematics of the shoulder complex[J]. Journal of Biomechanical Engineering, 1986, 108(3):215-221. doi: 10.1115/1.3138605
[5]	ENGIN A E, TUMER S T.Three-dimensional kinematic modelling of the human shoulder complex-Part Ⅰ:Physical model and determination of joint sinus cones[J]. Journal of Biomechanical Engineering, 1989, 111(2):107-112. doi: 10.1115/1.3168351
[6]	XU X, DICKERSON C R, LIN J H, et al.Evaluation of regression-based 3-D shoulder rhythms[J]. Journal of Electromyography and Kinesiology, 2015, 17:28-33. https://www.sciencedirect.com/science/article/pii/S1050641115001522
[7]	MASO F D, BLACHE Y, RAISON M, et al.Glenohumeral joint kinematics measured by intracortical pins, reflective markers, and computed tomography:A novel technique to assess acromiohumeral distance[J]. Journal of Electromyography and Kinesiology, 2015, 29:4-11. https://www.researchgate.net/publication/280654450_Glenohumeral_joint_kinematics_measured_by_intracortical_pins_reflective_markers_and_computed_tomography_A_novel_technique_to_assess_acromiohumeral_distance
[8]	HARISH V, BAKSH A, UNGI T, et al.Measurement of electromagnetic tracking error in a navigated breast surgery setup[C]//Proceedings of the SPIE Medical Imaging.Bellingham:SPIE Press, 2016, 9786:1-8.
[9]	ZHANG C, SKALLI W, LAGAC P Y, et al.Investigation of 3D glenohumeral displacements from 3D reconstruction using biplane X-ray images:Accuracy and reproducibility of the technique and preliminary analysis in rotator cuff tear patients[J]. Landscape Design Journal of the Landscape Institute, 2015, 29(10):12-20. http://europepmc.org/abstract/MED/26350569
[10]	DAL M F, RAISON M, LUNDBERG A, et al.Glenohumeral translations during range-of-motion movements, activities of daily living, and sports activities in healthy participants[J]. Clinical Biomechanics, 2015, 30(9):1002-1007. doi: 10.1016/j.clinbiomech.2015.06.016
[11]	GARNER B A, PANDY M G.Musculoskeletal model of the upper limb based on the visible human male dataset[J]. Computer Methods in Biomechanics & Biomedical Engineering 2001, 4(2):93-126. https://www.researchgate.net/publication/12067829_Musculoskeletal_Model_of_the_Upper_Limb_Based_on_the_Visible_Human_Male_Dataset
[12]	MAUREL W, THALMANN D.Human sholder modeling including scapulo-thoracic constraint and joint sinus cones[J]. Computers & Graphics, 2000, 24(2):203-218. http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.91.7394
[13]	MAUREL W, THALMANN D, HOFFMEYER P, et al.A biomechanical musculoskeletal model of human upper limb for dynamic simulation[C]//Proceedings of the Eurographics Workshop on Computer Animation and Simulation.Vienna:Springer, 1996:121-136.
[14]	TONDU B.Modelling of the shoulder complex and application the design of upper extremities for humanoid robots[C]//Proceedings of the IEEE-Ras International Conference on Humanoid Robots.Piscataway, NJ:IEEE Press, 2005:313-320.
[15]	BOLSTERLEE B, VEEGER H E J.Modelling clavicular and scapular kinematics:From measurement to simulation[J]. Medical & Biological Engineering & Computing, 2014, 52(3):283-291. https://www.researchgate.net/profile/Dirkjan_Veeger/publication/236094598_Modelling_clavicular_and_scapular_kinematics_From_measurement_to_simulation/links/02e7e534291f563176000000/Modelling-clavicular-and-scapular-kinematics-From-measurement-to-simulation.pdf
[16]	SHOLUKHA V, JAN S V S.Combined motions of the shoulder joint complex for model-based simulation:Modeling of the shoulder rhythm(ShRm)[M]. London:Springer, 2014:205-232.
[17]	WARNER M B, CHAPPELL P H, STOKES M J.Measurement of dynamic scapular kinematics using an acromion marker cluster to minimize skin movement artifact[J]. Journal of Visualized Experiments Jove, 2015, 96:e51717. https://eprints.soton.ac.uk/374285
[18]	The National Center for Simulation in Rehabilitation Research(NCSRR).Shoulder movements database:The supplement of Delft Shoulder and Elbow Model Project[DS/OL]. (2015-03-20)[2016-05-30]. https://simtk.org/projects/dsem.
[19]	WU G, HELM F C T V D, VEEGER H E J, et al.ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion-Part Ⅱ:Shoulder, elbow, wrist and hand[J]. Journal of Biomechanics, 2005, 38(5):981-992. doi: 10.1016/j.jbiomech.2004.05.042
[20]	GARNER B A, PANDY M G.A kinematic model of the upper limb based on the visible human project (VHP) image dataset[J]. Computer Methods in Biomechanics & Biomedical Engineering, 1999, 2(2):107-124. http://citeseerx.ist.psu.edu/showciting?cid=3887375